Switching Control With Learning for a Class of Systems
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Published:2003-09-01
Issue:3
Volume:125
Page:448-450
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Affiliation:
1. Intpax, Inc., Cupertino, CA 95014 2. Mechanical and Aerospace Engineering, University of Missouri, Columbia, Missouri 65211, USA
Abstract
Analytical details are developed for a robust adaptive control strategy that combines switching control and on-line adaptive learning, for a class of nonlinear systems. The condition for stable learning is derived, guidelines for design parameter selection are provided, and the tradeoff between performance and chattering control effort is examined. The results of the study are summarized in the form of a constructive procedure for controller design for the class of systems.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference13 articles.
1. Slotine, J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice Hall, NJ. 2. Ioannou, P. A., and Sun, J., 1996, Robust Adaptive Control, Prentice Hall, NJ. 3. Reed, J. S., and Ioannou, P. A., 1989, “Instability Analysis and Robust Adaptive Control of Robotic Manipulators,” IEEE Trans. Rob. Autom., 5(3), pp. 381–386. 4. Tsypkin, Y. Z., 1996, “Learning in Robust Control Systems,” Intelligent Control Systems: Theory and Applications, edited by Gupta, M. M., and Sinha, N. K., IEEE Press, pp. 86–100. 5. Yao, B., and Tomizuka, M., 1996, “Smooth Robust Adaptive Sliding Mode Control of Manipulators With Guaranteed Transient Performance,” ASME J. Dyn. Syst., Meas., Control, 118, pp. 764–765.
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